7 papers
HumAIN: Human-Aware Implicit Social Robot Navigation
Daeun Song, Nhat Le, Jeffrey Chen +7
Effective social robot navigation requires sensitivity to human behavior, often revealed through subtle skeletal cues like gait and orientation. We present Human-Aware Implicit Soc…
Zero-Shot Adaptation to Robot Structural Damage via Natural Language-Informed Kinodynamics Modeling
Anuj Pokhrel, Aniket Datar, Mohammad Nazeri +2
High-performance autonomous mobile robots endure significant mechanical stress during in-the-wild operations, e.g., driving at high speeds or over rugged terrain. Although these pl…
M2P2: A Multi-Modal Passive Perception Dataset for Off-Road Mobility in Extreme Low-Light Conditions
Aniket Datar, Anuj Pokhrel, Mohammad Nazeri +8
Long-duration, off-road, autonomous missions require robots to continuously perceive their surroundings regardless of the ambient lighting conditions. Most existing autonomy system…
CAHSOR: Competence-Aware High-Speed Off-Road Ground Navigation in SE(3)
Anuj Pokhrel, Aniket Datar, Mohammad Nazeri +1
While the workspace of traditional ground vehicles is usually assumed to be in a 2D plane, i.e., SE(2), such an assumption may not hold when they drive at high speeds on unstructur…
VertiCoder: Self-Supervised Kinodynamic Representation Learning on Vertically Challenging Terrain
Mohammad Nazeri, Aniket Datar, Anuj Pokhrel +3
We present VertiCoder, a self-supervised representation learning approach for robot mobility on vertically challenging terrain. Using the same pre-training process, VertiCoder can…
VertiFormer: A Data-Efficient Multi-Task Transformer for Off-Road Robot Mobility
Mohammad Nazeri, Anuj Pokhrel, Alexandyr Card +3
Sophisticated learning architectures, e.g., Transformers, present a unique opportunity for robots to understand complex vehicle-terrain kinodynamic interactions for off-road mobili…